rgarreta commited on
Commit
0acaeba
·
verified ·
1 Parent(s): 165c609

Upload folder using huggingface_hub

Browse files
data/chunk-000/episode_000000.parquet ADDED
@@ -0,0 +1,3 @@
 
 
 
 
1
+ version https://git-lfs.github.com/spec/v1
2
+ oid sha256:e2b5333abf39f782b3e0642f4497f72c6a1808d243d80e1a290c5f06b4b5c7ee
3
+ size 16656
data/chunk-000/episode_000001.parquet ADDED
@@ -0,0 +1,3 @@
 
 
 
 
1
+ version https://git-lfs.github.com/spec/v1
2
+ oid sha256:d5d7fc236e7d2f71102f2775c5f4935af95d3d64083fd9431fd67215aea53e79
3
+ size 23462
meta/episodes.jsonl ADDED
@@ -0,0 +1,2 @@
 
 
 
1
+ {"episode_index": 0, "tasks": ["Grasp a lego block and put it in the bin."], "length": 253}
2
+ {"episode_index": 1, "tasks": ["Grasp a lego block and put it in the bin."], "length": 410}
meta/info.json ADDED
@@ -0,0 +1,127 @@
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
1
+ {
2
+ "codebase_version": "v2.0",
3
+ "robot_type": "koch",
4
+ "total_episodes": 2,
5
+ "total_frames": 663,
6
+ "total_tasks": 1,
7
+ "total_videos": 4,
8
+ "total_chunks": 1,
9
+ "chunks_size": 1000,
10
+ "fps": 30,
11
+ "splits": {
12
+ "train": "0:2"
13
+ },
14
+ "data_path": "data/chunk-{episode_chunk:03d}/episode_{episode_index:06d}.parquet",
15
+ "video_path": "videos/chunk-{episode_chunk:03d}/{video_key}/episode_{episode_index:06d}.mp4",
16
+ "features": {
17
+ "action": {
18
+ "dtype": "float32",
19
+ "shape": [
20
+ 6
21
+ ],
22
+ "names": [
23
+ "main_shoulder_pan",
24
+ "main_shoulder_lift",
25
+ "main_elbow_flex",
26
+ "main_wrist_flex",
27
+ "main_wrist_roll",
28
+ "main_gripper"
29
+ ]
30
+ },
31
+ "observation.state": {
32
+ "dtype": "float32",
33
+ "shape": [
34
+ 6
35
+ ],
36
+ "names": [
37
+ "main_shoulder_pan",
38
+ "main_shoulder_lift",
39
+ "main_elbow_flex",
40
+ "main_wrist_flex",
41
+ "main_wrist_roll",
42
+ "main_gripper"
43
+ ]
44
+ },
45
+ "observation.images.laptop": {
46
+ "dtype": "video",
47
+ "shape": [
48
+ 480,
49
+ 640,
50
+ 3
51
+ ],
52
+ "names": [
53
+ "height",
54
+ "width",
55
+ "channels"
56
+ ],
57
+ "info": {
58
+ "video.fps": 30.0,
59
+ "video.height": 480,
60
+ "video.width": 640,
61
+ "video.channels": 3,
62
+ "video.codec": "av1",
63
+ "video.pix_fmt": "yuv420p",
64
+ "video.is_depth_map": false,
65
+ "has_audio": false
66
+ }
67
+ },
68
+ "observation.images.phone": {
69
+ "dtype": "video",
70
+ "shape": [
71
+ 480,
72
+ 640,
73
+ 3
74
+ ],
75
+ "names": [
76
+ "height",
77
+ "width",
78
+ "channels"
79
+ ],
80
+ "info": {
81
+ "video.fps": 30.0,
82
+ "video.height": 480,
83
+ "video.width": 640,
84
+ "video.channels": 3,
85
+ "video.codec": "av1",
86
+ "video.pix_fmt": "yuv420p",
87
+ "video.is_depth_map": false,
88
+ "has_audio": false
89
+ }
90
+ },
91
+ "timestamp": {
92
+ "dtype": "float32",
93
+ "shape": [
94
+ 1
95
+ ],
96
+ "names": null
97
+ },
98
+ "frame_index": {
99
+ "dtype": "int64",
100
+ "shape": [
101
+ 1
102
+ ],
103
+ "names": null
104
+ },
105
+ "episode_index": {
106
+ "dtype": "int64",
107
+ "shape": [
108
+ 1
109
+ ],
110
+ "names": null
111
+ },
112
+ "index": {
113
+ "dtype": "int64",
114
+ "shape": [
115
+ 1
116
+ ],
117
+ "names": null
118
+ },
119
+ "task_index": {
120
+ "dtype": "int64",
121
+ "shape": [
122
+ 1
123
+ ],
124
+ "names": null
125
+ }
126
+ }
127
+ }
meta/stats.json ADDED
@@ -0,0 +1,280 @@
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
1
+ {
2
+ "action": {
3
+ "mean": [
4
+ 38.6859245300293,
5
+ 101.98308563232422,
6
+ 128.66470336914062,
7
+ 30.49645233154297,
8
+ -10.621641159057617,
9
+ 25.5143985748291
10
+ ],
11
+ "std": [
12
+ 34.649803161621094,
13
+ 18.537883758544922,
14
+ 31.968191146850586,
15
+ 36.310882568359375,
16
+ 17.492713928222656,
17
+ 16.34109115600586
18
+ ],
19
+ "max": [
20
+ 115.576171875,
21
+ 133.76953125,
22
+ 178.330078125,
23
+ 80.244140625,
24
+ 7.822265625,
25
+ 37.177734375
26
+ ],
27
+ "min": [
28
+ -3.69140625,
29
+ 55.107421875,
30
+ 70.83984375,
31
+ -29.267578125,
32
+ -48.8671875,
33
+ -9.404296875
34
+ ]
35
+ },
36
+ "observation.state": {
37
+ "mean": [
38
+ 38.38368225097656,
39
+ 100.8920669555664,
40
+ 129.6918182373047,
41
+ 31.01571273803711,
42
+ -9.887632369995117,
43
+ 28.18187141418457
44
+ ],
45
+ "std": [
46
+ 34.29603958129883,
47
+ 18.476810455322266,
48
+ 30.74567413330078,
49
+ 36.03657531738281,
50
+ 16.453784942626953,
51
+ 9.703892707824707
52
+ ],
53
+ "max": [
54
+ 114.345703125,
55
+ 130.693359375,
56
+ 176.66015625,
57
+ 80.33203125,
58
+ 6.416015625,
59
+ 36.2109375
60
+ ],
61
+ "min": [
62
+ -2.98828125,
63
+ 54.84375,
64
+ 71.015625,
65
+ -29.1796875,
66
+ -44.47265625,
67
+ -6.15234375
68
+ ]
69
+ },
70
+ "observation.images.laptop": {
71
+ "mean": [
72
+ [
73
+ [
74
+ 0.42497724294662476
75
+ ]
76
+ ],
77
+ [
78
+ [
79
+ 0.4088495075702667
80
+ ]
81
+ ],
82
+ [
83
+ [
84
+ 0.30083996057510376
85
+ ]
86
+ ]
87
+ ],
88
+ "std": [
89
+ [
90
+ [
91
+ 0.18326246738433838
92
+ ]
93
+ ],
94
+ [
95
+ [
96
+ 0.20290358364582062
97
+ ]
98
+ ],
99
+ [
100
+ [
101
+ 0.15074411034584045
102
+ ]
103
+ ]
104
+ ],
105
+ "max": [
106
+ [
107
+ [
108
+ 1.0
109
+ ]
110
+ ],
111
+ [
112
+ [
113
+ 1.0
114
+ ]
115
+ ],
116
+ [
117
+ [
118
+ 1.0
119
+ ]
120
+ ]
121
+ ],
122
+ "min": [
123
+ [
124
+ [
125
+ 0.0
126
+ ]
127
+ ],
128
+ [
129
+ [
130
+ 0.0
131
+ ]
132
+ ],
133
+ [
134
+ [
135
+ 0.0
136
+ ]
137
+ ]
138
+ ]
139
+ },
140
+ "observation.images.phone": {
141
+ "mean": [
142
+ [
143
+ [
144
+ 0.6037048697471619
145
+ ]
146
+ ],
147
+ [
148
+ [
149
+ 0.5809007287025452
150
+ ]
151
+ ],
152
+ [
153
+ [
154
+ 0.546568751335144
155
+ ]
156
+ ]
157
+ ],
158
+ "std": [
159
+ [
160
+ [
161
+ 0.17586030066013336
162
+ ]
163
+ ],
164
+ [
165
+ [
166
+ 0.17424316704273224
167
+ ]
168
+ ],
169
+ [
170
+ [
171
+ 0.1636248677968979
172
+ ]
173
+ ]
174
+ ],
175
+ "max": [
176
+ [
177
+ [
178
+ 1.0
179
+ ]
180
+ ],
181
+ [
182
+ [
183
+ 1.0
184
+ ]
185
+ ],
186
+ [
187
+ [
188
+ 1.0
189
+ ]
190
+ ]
191
+ ],
192
+ "min": [
193
+ [
194
+ [
195
+ 0.0
196
+ ]
197
+ ],
198
+ [
199
+ [
200
+ 0.0
201
+ ]
202
+ ],
203
+ [
204
+ [
205
+ 0.0
206
+ ]
207
+ ]
208
+ ]
209
+ },
210
+ "timestamp": {
211
+ "mean": [
212
+ 5.818150520324707
213
+ ],
214
+ "std": [
215
+ 3.674588680267334
216
+ ],
217
+ "max": [
218
+ 13.633333206176758
219
+ ],
220
+ "min": [
221
+ 0.0
222
+ ]
223
+ },
224
+ "frame_index": {
225
+ "mean": [
226
+ 174.54449462890625
227
+ ],
228
+ "std": [
229
+ 110.23765563964844
230
+ ],
231
+ "max": [
232
+ 409.0
233
+ ],
234
+ "min": [
235
+ 0.0
236
+ ]
237
+ },
238
+ "episode_index": {
239
+ "mean": [
240
+ 0.6184011697769165
241
+ ],
242
+ "std": [
243
+ 0.48577889800071716
244
+ ],
245
+ "max": [
246
+ 1.0
247
+ ],
248
+ "min": [
249
+ 0.0
250
+ ]
251
+ },
252
+ "index": {
253
+ "mean": [
254
+ 330.9999694824219
255
+ ],
256
+ "std": [
257
+ 191.3914031982422
258
+ ],
259
+ "max": [
260
+ 662.0
261
+ ],
262
+ "min": [
263
+ 0.0
264
+ ]
265
+ },
266
+ "task_index": {
267
+ "mean": [
268
+ 0.0
269
+ ],
270
+ "std": [
271
+ 0.0
272
+ ],
273
+ "max": [
274
+ 0.0
275
+ ],
276
+ "min": [
277
+ 0.0
278
+ ]
279
+ }
280
+ }
meta/tasks.jsonl ADDED
@@ -0,0 +1 @@
 
 
1
+ {"task_index": 0, "task": "Grasp a lego block and put it in the bin."}
videos/chunk-000/observation.images.laptop/episode_000000.mp4 ADDED
@@ -0,0 +1,3 @@
 
 
 
 
1
+ version https://git-lfs.github.com/spec/v1
2
+ oid sha256:7d31ef3b19e5c1b20397db05c6be0ee2754fb417a9d17e8ee1c51970d83676ee
3
+ size 1337298
videos/chunk-000/observation.images.laptop/episode_000001.mp4 ADDED
@@ -0,0 +1,3 @@
 
 
 
 
1
+ version https://git-lfs.github.com/spec/v1
2
+ oid sha256:63dc40fc6a8d3b1e69977b50a1f355224969f935af872ff4cf7192955d9a702b
3
+ size 2300771
videos/chunk-000/observation.images.phone/episode_000000.mp4 ADDED
@@ -0,0 +1,3 @@
 
 
 
 
1
+ version https://git-lfs.github.com/spec/v1
2
+ oid sha256:3673ee34f104e0047a337610a41d49fca73b26f3119975926b51aceea6ab77c4
3
+ size 2442412
videos/chunk-000/observation.images.phone/episode_000001.mp4 ADDED
@@ -0,0 +1,3 @@
 
 
 
 
1
+ version https://git-lfs.github.com/spec/v1
2
+ oid sha256:fce2dd1d91ca9bd8ba0db7fe498f051682a0c966b44af37184a061649653e1d3
3
+ size 3922577